• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.4
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• pp.324-331
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• 2007

This paper studies new estimation method for state of charge (SOC) of the hybrid electric vehicle lithium battery using sliding mode observer. A simple R-C Lithium battery modeling technique is established and the errors caused by simple modeling was compensated by the sliding mode observer. The structure of the sliding mode observer is simple, but it shows robust control property against modeling errors and uncertainties. The performance of the system has been verified by the UUDS test. The test results of the proposed observer system shows robust tracking performance under real driving environments.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.995-1001
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• 2016

The vehicle suspension system plays a very important part related with vehicle ride and handling. To improve the vehicle ride and handling many researches have been progressed from various damping parameter tuning techniques to the development of the electronic controlled suspension systems. In this paper, as one of the ride performance improvement a disturbance observer(DOB) based control system is applied to the quarter car vehicle model in order to show that the DOB can obtain good vibration isolation characteristics. First, the robust stability criterion for the DOB is introduced in detail, and then how DOB is applied to the 1/4 car vehicle model is represented, and finally to confirm the effectiveness of the DOB in vehicle ride performance improvement a computer simulation is carried out for various driving conditions.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1075-1079
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• 1989

In this paper a robust control design is developed for the control of a multi-joint manipulators using sliding observer. The sliding observer is introduced to estimate the angular velocity of the links under the disturbance input. The feedback control is designed by the use of the estimated value of the angular velocity .theta.. The VSS control laws is introduced to ensure the robustness concerning the disturbance inputs. To illustrate the effectiveness of the proposed method, a computer simulation is performed for a two-joint manipulator.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.21-26
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• 2003

The well-conditioned observer in a stochastic system is designed so that the observer is less sensitive to the ill-conditioning factors in transient and steady-state observer performance. These factors include not only deterministic issues such as unknown initial estimation error, round-off error, modeling error and sensing bias, but also stochastic issues such as disturbance and sensor noise. In deterministic perspectives, a small value in the L$_2$ norm condition number of the observer eigenvector matrix guarantees robust estimation performance to the deterministic issues and its upper bound can be minimized by reducing the observer gain and increasing the decay rate. Both deterministic and stochastic issues are considered as a weighted sum with a LMI (Linear Matrix Inequality) formulation. The gain in the well-conditioned observer is optimally chosen by the optimization technique. Simulation examples are given to evaluate the estimation performance of the proposed observer.

• Proceedings of the KIPE Conference
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• 2002.11a
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• pp.53-56
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• 2002

This paper presents neural observer that used to deadbeat load torque observer. Most practical systems are nonlinear, and it is general practice to use linear models to simplify their analysis and design. However, the locally linearized model is invalid for a large signal change. The neural observer is suggested to increase the performance of the load torque observer and main controller The output error and estimeted state is trianed by neural network of neural observer. As a result, the state estimation error is minimised and deadbeat load torque observer make use of corrected esimation state. To reduce of the noise effect of deadbeat load torque observer, the post-filter which is implemented by MA process, is adopted. As a result, the proposed control system becomes a robust and precise system against the load torque. A stability and usefulness, through the verified computer simulation, are shown in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.334-334
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• 2000

In this paper, sliding mode observer design principles based on the equivalent control approach are discussed for the systems which may not satisfy the matching conditions. We propose a new approach for designing a sliding observer and the proof of the stability of the state reconstruction error system for time-invariant systems using the Lyapunov method. The reaching time to the sliding surface, the sliding dynamics of the system, the stability of the reconstruction error system via Lyapunov method, sufficient conditions for the existence of the sliding mode are studied.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.297-299
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• 1995

In this paper, a disturbance observer with binary control is proposed to suppress the chattering of sliding mode observer in estimation of the external disturbance. Binary control has the properly of chattering alleviation in addition to advantages of the conventional sliding mode control. As a simulation result, it is confirmed that the robust and high precision position control is possible by the proposed binary observer.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.385-394
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• 2004

This paper proposes the generalized structure of a model-based disturbance rejection controller called a Robust Internal-loop Compensator (RIC). The framework consists of the RIC in the internal-loop to eliminate disturbances and a feedback controller in the external-loop to achieve nominal control performance. As the main contribution of this paper, we redefine the design problem of the RIC as a regulation control problem, then show that this new definition with the RIC structure provides more design flexibility and less implementation constraints. This is verified through a comparative structural analysis with Disturbance Observer (DOB) and Adaptive Robust Control (ARC). Two design examples of the RIC are given, along with practical issues that should be considered in the design procedure. The proposed framework is demonstrated by simulations of a rotary-type motor and experiments with a linear-type motor system.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.420-425
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• 1996

In this paper a robust speed controller for an induction motor is proposed. The speed controller consists or a fuzzy sliding adaptive controller(FSAC) and a sliding mode torque observer(SMTO). FSAC removes the problem or oscillations caused by discontinuous inputs of the sliding mode controller. The controller also provides robust characteristics against parameter and sampling time variations. Although, however, the performance of FSAC is better than PI controller and fuzzy controller in robustness, it generates the problem of slow response time. To alleviate this problem, a compensator, which performs feedforward control using torque signals produced by SMTO, is added. The simulation and hardware implementation results show that the proposed system is robust to the load disturbance, parameter variations, and measurement noises.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.2
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• pp.137-144
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• 2006

This paper proposes the design of a robust controller based on disturbance observer which is strong to variation of system parameters, uncertainty of models or external disturbance. The controller consists of a mode based compensator and a feedback controller based on two-loop structure. The compensator in the internal-loop removes internal and external disturbances and a feedback controller in the external loop achieves performance along with given specifications. As a result, it shows that the proposed robust controller can stabilize a system against disturbance and improve controlling performance.